For the given 4-DOF robot: Assign appropriate frames for the Denavit-Hartenberg representation. (add them to...

  

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For the given 4-DOF robot: • Assign appropriate frames for the Denavit-Hartenberg representation. (add them to the image above) • Fill out the parameters table. • Write an equation in terms of A-matrices that shows how UTH can be calculated. (A transform from XYZ, to XYZ, using the A matrices above, you need not calculate the combined matrix) Odaa A, 0 -1 A, 1- 2 A, 2 -3 A, 3 - H Yu For the given 4-DOF robot: • Assign appropriate frames for the Denavit-Hartenberg representation. (add them to the image above) • Fill out the parameters table. • Write an equation in terms of A-matrices that shows how UTH can be calculated. (A transform from XYZ, to XYZ, using the A matrices above, you need not calculate the combined matrix) Odaa A, 0 -1 A, 1- 2 A, 2 -3 A, 3 - H Yu